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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
"""Policy deployment engine with pluggable rollout strategies.
``lerobot-rollout`` is the single CLI for running trained policies on
real robots.
Strategies
----------
--strategy.type=base Autonomous rollout, no recording
--strategy.type=sentry Continuous recording with auto-upload
--strategy.type=highlight Ring buffer + keystroke save
--strategy.type=dagger Human-in-the-loop (DAgger / RaC)
--strategy.type=episodic Episode-oriented recording with reset phases
Inference backends
------------------
--inference.type=sync One policy call per control tick (default)
--inference.type=rtc Real-Time Chunking for slow VLA models
Usage examples
--------------
::
# Base mode — quick evaluation with sync inference
lerobot-rollout \\
--strategy.type=base \\
--policy.path=lerobot/act_koch_real \\
--robot.type=koch_follower \\
--robot.port=/dev/ttyACM0 \\
--task="pick up cube" --duration=30
# Base mode — RTC inference for slow VLAs (Pi0, Pi0.5, SmolVLA)
lerobot-rollout \\
--strategy.type=base \\
--policy.path=lerobot/pi0_base \\
--inference.type=rtc \\
--inference.rtc.execution_horizon=10 \\
--inference.rtc.max_guidance_weight=10.0 \\
--robot.type=so100_follower \\
--robot.port=/dev/ttyACM0 \\
--robot.cameras="{ front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \\
--task="pick up cube" --duration=60
# Sentry mode — continuous recording with periodic upload
lerobot-rollout \\
--strategy.type=sentry \\
--strategy.upload_every_n_episodes=5 \\
--policy.path=lerobot/pi0_base \\
--inference.type=rtc \\
--robot.type=so100_follower \\
--robot.port=/dev/ttyACM0 \\
--dataset.repo_id=user/rollout_sentry_data \\
--dataset.single_task="patrol" --duration=3600
# Highlight mode — ring buffer, press 's' to save, 'h' to push
lerobot-rollout \\
--strategy.type=highlight \\
--strategy.ring_buffer_seconds=30 \\
--policy.path=lerobot/act_koch_real \\
--robot.type=koch_follower \\
--robot.port=/dev/ttyACM0 \\
--dataset.repo_id=user/rollout_highlight_data \\
--dataset.single_task="pick up cube"
# DAgger mode — human-in-the-loop corrections only
lerobot-rollout \\
--strategy.type=dagger \\
--strategy.num_episodes=20 \\
--policy.path=outputs/pretrain/checkpoints/last/pretrained_model \\
--robot.type=bi_openarm_follower \\
--teleop.type=openarm_mini \\
--dataset.repo_id=user/rollout_hil_data \\
--dataset.single_task="Fold the T-shirt"
# DAgger mode — continuous recording with RTC inference
lerobot-rollout \\
--strategy.type=dagger \\
--strategy.record_autonomous=true \\
--strategy.num_episodes=50 \\
--inference.type=rtc \\
--inference.rtc.execution_horizon=10 \\
--policy.path=user/my_pi0_policy \\
--robot.type=so100_follower \\
--robot.port=/dev/ttyACM0 \\
--teleop.type=so101_leader \\
--teleop.port=/dev/ttyACM1 \\
--dataset.repo_id=user/rollout_dagger_rtc_data \\
--dataset.single_task="Grasp the block"
# With Rerun visualization and torch.compile
lerobot-rollout \\
--strategy.type=base \\
--policy.path=lerobot/act_koch_real \\
--robot.type=koch_follower \\
--robot.port=/dev/ttyACM0 \\
--task="pick up cube" --duration=60 \\
--display_data=true \\
--use_torch_compile=true
# Episodic mode — episode-oriented recording with reset phases
lerobot-rollout \\
--strategy.type=episodic \\
--policy.path=user/my_policy \\
--robot.type=so100_follower \\
--robot.port=/dev/ttyACM0 \\
--teleop.type=so100_leader \\
--teleop.port=/dev/ttyACM1 \\
--dataset.repo_id=user/rollout_episodic_data \\
--dataset.num_episodes=20 \\
--dataset.single_task="Grab the cube"
# Resume a previous sentry recording session
lerobot-rollout \\
--strategy.type=sentry \\
--policy.path=user/my_policy \\
--robot.type=so100_follower \\
--robot.port=/dev/ttyACM0 \\
--dataset.repo_id=user/rollout_sentry_data \\
--dataset.single_task="patrol" \\
--resume=true
# Rollout with custom video encoding parameters
lerobot-rollout \\
--strategy.type=base \\
--policy.path=lerobot/act_koch_real \\
--robot.type=koch_follower \\
--robot.port=/dev/ttyACM0 \\
--task="pick up cube" --duration=60 \\
--display_data=true \\
--dataset.rgb_encoder.vcodec=h264 \\
--dataset.rgb_encoder.preset=fast \\
--dataset.rgb_encoder.extra_options={"tune": "film", "profile:v": "high", "bf": 2}
# Stream to Foxglove instead of Rerun:
# add --display_mode=foxglove, then connect the Foxglove app to ws://127.0.0.1:8765.
"""
import logging
from lerobot.cameras.opencv import OpenCVCameraConfig # noqa: F401
from lerobot.cameras.realsense import RealSenseCameraConfig # noqa: F401
from lerobot.cameras.zmq import ZMQCameraConfig # noqa: F401
from lerobot.configs import parser
from lerobot.robots import ( # noqa: F401
Robot,
RobotConfig,
bi_openarm_follower,
bi_rebot_b601_follower,
bi_so_follower,
earthrover_mini_plus,
hope_jr,
koch_follower,
omx_follower,
openarm_follower,
reachy2,
rebot_b601_follower,
so_follower,
unitree_g1 as unitree_g1_robot,
)
from lerobot.rollout import RolloutConfig, build_rollout_context, create_strategy
from lerobot.teleoperators import ( # noqa: F401
Teleoperator,
TeleoperatorConfig,
bi_openarm_leader,
bi_openarm_mini,
bi_rebot_102_leader,
bi_so_leader,
homunculus,
koch_leader,
omx_leader,
openarm_leader,
openarm_mini,
reachy2_teleoperator,
rebot_102_leader,
so_leader,
unitree_g1,
)
from lerobot.utils.import_utils import register_third_party_plugins
from lerobot.utils.process import ProcessSignalHandler
from lerobot.utils.utils import init_logging
from lerobot.utils.visualization_utils import init_visualization, shutdown_visualization
logger = logging.getLogger(__name__)
@parser.wrap()
def rollout(cfg: RolloutConfig):
"""Main entry point for policy deployment."""
init_logging()
if cfg.display_data:
logger.info(
"Initializing %s visualization (ip=%s, port=%s)",
cfg.display_mode,
cfg.display_ip,
cfg.display_port,
)
init_visualization(cfg.display_mode, session_name="rollout", ip=cfg.display_ip, port=cfg.display_port)
signal_handler = ProcessSignalHandler(use_threads=True, display_pid=False)
shutdown_event = signal_handler.shutdown_event
logger.info("Building rollout context...")
ctx = build_rollout_context(cfg, shutdown_event)
strategy = create_strategy(cfg.strategy)
logger.info("Rollout strategy: %s", cfg.strategy.type)
logger.info(
"Robot: %s | FPS: %.0f | Duration: %s",
cfg.robot.type if cfg.robot else "?",
cfg.fps,
f"{cfg.duration}s" if cfg.duration > 0 else "infinite",
)
try:
strategy.setup(ctx)
logger.info("Rollout setup complete, starting rollout...")
strategy.run(ctx)
except KeyboardInterrupt:
logger.info("Interrupted by user")
finally:
strategy.teardown(ctx)
if cfg.display_data:
shutdown_visualization(cfg.display_mode)
logger.info("Rollout finished")
def main():
"""CLI entry point for ``lerobot-rollout``."""
register_third_party_plugins()
rollout()
if __name__ == "__main__":
main()
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